One of the difficult problems in designing a robotic hand is to achieve the same size of the human counterpart with all the actuators integrated into the hand. The design of an anthropomorphic joint which provides pitch and yaw motions of the finger relative to the palm was described. The joint consists of two intersecting axes and five bevel gears, which allows the motors to be placed in the palm to achieve a compact structure. The kinematic model of the joint was developed and verified by a virtual prototype. The application of the joint can improve the dynamic performance and simplify the mechanical structure of the robotic dexterous hand.
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